Question #707124 on Yade changed:
https://answers.launchpad.net/yade/+question/707124

    Status: Open => Answered

Jan Stránský proposed the following answer:
> the id=3841 in the error report exceeds the number of particles I imported 
> via yade
> However, I did not figure out where the contact parameters of the interface 
> unit are defined when it is involved in the contact force calculation (in 
> DEM)? 

The other bodies are imported "via yade", athough not directly.
Still you have access to the bodies as O.bodies[theProblematicID]

> Besides, the above reported error only appears when I defined FrictMat
in the script. When I define only PolyhedraMat and use only the
following engine, the problem did not occur.

If you use only PolyhedraMat, all the needed dispatchers for material-shape 
combinations exist.
For FrictMat and PolyhedraMat, you create a FrictPhys 
(Ip2_FrictMat_PolyhedraMat_FrictPhys) but at the same time from Facet and 
Polyhedron you create PolyhedraGeom (Ig2_Facet_Polyhedra_PolyhedraGeom).
And there is no Law2 for PolyhedraGeom and FrictPhys..

You have either implement the Law2, or choose such combination of
shapes, materials, Ip2 and Ig2 such that all resulting IGeom+IPhys
combinations can use existing Law2.

Cheers
Jan

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